Compliant four degree-of-freedom manipulator with locally deformable elastic elements for minimally invasive surgery

Arata, Jumpei; Fujisawa, Yosuke; Nakadate, Ryu; Kiguchi, Kazuo; Harada, Kensuke; Mitsuishi, Mamoru; Hashizume, Makoto

doi:10.1109/icra.2019.8793798

Cited by 27 publications

(22 citation statements)

References 6 publications

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“…To provide appropriate robotic assistance to pediatric surgery and other applications in narrow workspaces, our group has been developing a novel master-slave robotic system, called SmartArm, in parallel with this work [2]. It consists of a pair of industrial robot arms, each of which is instrumented with an actuated flexible tool [3]. The proposed system has tools whose diameters are 3.5 mm, and the preliminary results indicate that our system can operate inside narrow workspaces, such as those in pediatric patients [4].…”

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confidence: 99%

Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

Marinho

Ishida

Harada

et al. 2020

IEEE Robot. Autom. Lett.

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The limited workspace in pediatric endoscopic surgery makes surgical suturing one of the most difficult tasks. During suturing, surgeons have to prevent collisions between tools and also collisions with the surrounding tissues. Surgical robots have been shown to be effective in adult laparoscopy, but assistance for suturing in constrained workspaces has not been yet fully explored. In this letter, we propose guidance virtual fixtures to enhance the performance and the safety of suturing while generating the required task constraints using constrained optimization and Cartesian force feedback. We propose two guidance methods: looping virtual fixtures and a trajectory guidance cylinder, that are based on dynamic geometric elements. In simulations and experiments with a physical robot, we show that the proposed methods achieve a more precise and safer looping in robot-assisted pediatric endoscopy.

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confidence: 99%

Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

Marinho

Ishida

Harada

et al. 2020

IEEE Robot. Autom. Lett.

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“…Because the sensor is bio-compatible, sterilizable, and tolerant to noise within the miniaturized size, it can be placed close to lesions, where a small interaction force between the instruments and the organ can be measured without additional disturbance (e.g., friction in the mechanism of the instruments). Further, we are currently working on the improvements discussed in this section and further plan to implement the sensor in a surgical robot [39][40][41].…”

Section: Discussionmentioning

confidence: 99%

Modular Optic Force Sensor for a Surgical Device Using a Fabry–Perot Interferometer

et al. 2019

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The ability to sense force in surgery is in high demand in many applications such asforce feedback in surgical robots and remote palpation (e.g., tumor detection in endoscopic surgery).In addition, recording and analyzing surgical data is of substantial value in terms of evidence-basedmedicine. However, force sensing in surgery remains challenging because of the specific requirementsof surgical instruments, namely, they must be small, bio-compatible, sterilizable, and tolerant tonoise. In this study, we propose a modular optic force sensor using a Fabry–Perot interferometer thatcan be used on surgical devices. The the proposed sensor can be implemented like a strain gauge,which is widely used in industrial applications but not compatible with surgery. The proposed sensorincludes two key elements, a fiber-optic pressure sensor using a Fabry–Perot interferometer thatwas previously developed by one of the authors and a structure that includes a carbide pin thatcontacts the pressure sensor along the long axis. These two elements are fixed in a guide channelfabricated in a 3 × 2 × 0.5 mm sensor housing. The experimental results are promising, revealinga linear relationship between the output and the applied load while showing a linear temperaturecharacteristic that suggests temperature compensation will be needed in use.

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“…Setting up the robot for different medical procedures can require different peripherals, and the boards can be customized accordingly. For the validation experiments described in this work, we were required to control a total of ten motors, five for each multi‐DoF forceps . This required the simultaneous control of 10 ‐10 V/10 V analog outputs to send velocity inputs to each of the motor controllers, 10 digital inputs to read each individual limit switch used for the initial homing operation , and 10 quadrature encoder channels.…”

Section: Methodsmentioning

confidence: 99%

“…For the validation experiments described in this work, we were required to control a total of ten motors, five for each multi-DoF forceps. 28 This required the simultaneous control of 10 -10 V/10 V analog outputs to send velocity inputs to each of the motor controllers, 10 digital inputs to read each individual limit switch used for the initial homing operation ‡ , and 10 quadrature encoder channels. This is managed by the forceps_control_node hard real-time user-space process running at 1000 Hz.…”

Section: Software Architecturementioning

confidence: 99%

SmartArm: Integration and validation of a versatile surgical robotic system for constrained workspaces

Marinho

Harada

Morita

et al. 2020

Robotics Computer Surgery

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Background: With the increasing presence of surgical robots minimally invasive surgery, there is a growing necessity of a versatile surgical system for deep and narrow workspaces. Methods: We developed a versatile system for constrained workspaces called SmartArm. It has two industrial‐type robotic arms with flexible tools attached to its distal tip, with a total of nine active degrees‐of‐freedom. The system has a control algorithm based on constrained optimization that allows the safe generation of task constraints and intuitive teleoperation. Results: The SmartArm system is evaluated in a master‐slave experiment in which a medically untrained user operates the robot to suture the dura mater membrane at the skull base of a realistic head phantom. Our results show that the user could accomplish the task proficiently, with speed and accuracy comparable to manual suturing by surgeons. Conclusions We demonstrated the integration and validation of the SmartArm.

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Compliant four degree-of-freedom manipulator with locally deformable elastic elements for minimally invasive surgery

Cited by 27 publications

References 6 publications

Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

Virtual Fixture Assistance for Suturing in Robot-Aided Pediatric Endoscopic Surgery

Modular Optic Force Sensor for a Surgical Device Using a Fabry–Perot Interferometer

SmartArm: Integration and validation of a versatile surgical robotic system for constrained workspaces

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